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381 lines
12 KiB
381 lines
12 KiB
#!/usr/bin/env python
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import os
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import zmq
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import json
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import time
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import numpy as np
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from numpy import linalg as LA
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from threading import Thread
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from scipy.spatial import cKDTree
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from selfdrive.swaglog import cloudlog
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from cereal.services import service_list
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from common.realtime import Ratekeeper
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from common.kalman.ned import geodetic2ecef, NED
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import cereal.messaging as messaging
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from cereal import log
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import warnings
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from selfdrive.config import Conversions as CV
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if os.getenv('EON_LIVE') == '1':
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_REMOTE_ADDR = "192.168.5.11"
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else:
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_REMOTE_ADDR = "127.0.0.1"
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LOOP = 'small_loop'
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TRACK_SNAP_DIST = 17. # snap to a track below this distance
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TRACK_LOST_DIST = 30. # lose a track above this distance
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INSTRUCTION_APPROACHING_DIST = 200.
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INSTRUCTION_ACTIVE_DIST = 20.
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ROT_CENTER_TO_LOC = 1.2
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class INSTRUCTION_STATE:
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NONE = log.UiNavigationEvent.Status.none
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PASSIVE = log.UiNavigationEvent.Status.passive
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APPROACHING = log.UiNavigationEvent.Status.approaching
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ACTIVE = log.UiNavigationEvent.Status.active
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def convert_ecef_to_capnp(points):
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points_capnp = []
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for p in points:
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point = log.ECEFPoint.new_message()
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point.x, point.y, point.z = map(float, p[0:3])
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points_capnp.append(point)
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return points_capnp
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def get_spaced_points(track, start_index, cur_ecef, v_ego):
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active_points = []
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look_ahead = 5.0 + 1.5 * v_ego # 5m + 1.5s
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# forward and backward passes for better poly fit
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for idx_sign in [1, -1]:
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for i in range(0, 1000):
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index = start_index + i * idx_sign
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# loop around
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p = track[index % len(track)]
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distance = LA.norm(cur_ecef - p[0:3])
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if i > 5 and distance > look_ahead:
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break
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active_points.append([p, index])
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# sort points by index
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active_points = sorted(active_points, key=lambda pt: pt[1])
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active_points = [p[0] for p in active_points]
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return active_points
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def fit_poly(points, cur_ecef, cur_heading, ned_converter):
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relative_points = []
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for point in points.points:
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p = np.array([point.x, point.y, point.z])
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relative_points.append(ned_converter.ecef_to_ned_matrix.dot(p - cur_ecef))
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relative_points = np.matrix(np.vstack(relative_points))
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# Calculate relative postions and rotate wrt to heading of car
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c, s = np.cos(-cur_heading), np.sin(-cur_heading)
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R = np.array([[c, -s], [s, c]])
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n, e = relative_points[:, 0], relative_points[:, 1]
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relative_points = np.hstack([e, n])
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rotated_points = relative_points.dot(R)
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rotated_points = np.array(rotated_points)
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x, y = rotated_points[:, 1], -rotated_points[:, 0]
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warnings.filterwarnings('error')
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# delete points that go backward
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max_x = x[0]
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x_new = []
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y_new = []
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for xi, yi in zip(x, y):
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if xi > max_x:
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max_x = xi
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x_new.append(xi)
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y_new.append(yi)
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x = np.array(x_new)
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y = np.array(y_new)
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if len(x) > 10:
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poly = map(float, np.polyfit(x + ROT_CENTER_TO_LOC, y, 3)) # 1.2m in front
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else:
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poly = [0.0, 0.0, 0.0, 0.0]
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return poly, float(max_x + ROT_CENTER_TO_LOC)
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def get_closest_track(tracks, track_trees, cur_ecef):
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track_list = [(name, track_trees[name].query(cur_ecef, 1)) for name in track_trees]
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closest_name, [closest_distance, closest_idx] = min(track_list, key=lambda x: x[1][0])
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return {'name': closest_name,
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'distance': closest_distance,
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'idx': closest_idx,
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'speed': tracks[closest_name][closest_idx][3],
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'accel': tracks[closest_name][closest_idx][4]}
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def get_track_from_name(tracks, track_trees, track_name, cur_ecef):
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if track_name is None:
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return None
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else:
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track_distance, track_idx = track_trees[track_name].query(cur_ecef, 1)
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return {'name': track_name,
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'distance': track_distance,
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'idx': track_idx,
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'speed': tracks[track_name][track_idx][3],
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'accel': tracks[track_name][track_idx][4]}
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def get_tracks_from_instruction(tracks,instruction, track_trees, cur_ecef):
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if instruction is None:
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return None, None
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else:
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source_track = get_track_from_name(tracks, track_trees, instruction['source'], cur_ecef)
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target_track = get_track_from_name(tracks, track_trees, instruction['target'], cur_ecef)
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return source_track, target_track
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def get_next_instruction_distance(track, instruction, cur_ecef):
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if instruction is None:
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return None
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else:
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return np.linalg.norm(cur_ecef - track[instruction['start_idx']][0:3])
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def update_current_track(tracks, cur_track, cur_ecef, track_trees):
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closest_track = get_closest_track(tracks, track_trees, cur_ecef)
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# have we lost current track?
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if cur_track is not None:
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cur_track = get_track_from_name(tracks, track_trees, cur_track['name'], cur_ecef)
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if cur_track['distance'] > TRACK_LOST_DIST:
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cur_track = None
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# did we snap to a new track?
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if cur_track is None and closest_track['distance'] < TRACK_SNAP_DIST:
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cur_track = closest_track
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return cur_track, closest_track
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def update_instruction(instruction, instructions, cur_track, source_track, state, cur_ecef, tracks):
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if state == INSTRUCTION_STATE.ACTIVE: # instruction frozen, just update distance
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instruction['distance'] = get_next_instruction_distance(tracks[source_track['name']], instruction, cur_ecef)
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return instruction
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elif cur_track is None:
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return None
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else:
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instruction_list = [i for i in instructions[cur_track['name']] if i['start_idx'] > cur_track['idx']]
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if len(instruction_list) > 0:
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next_instruction = min(instruction_list, key=lambda x: x['start_idx'])
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next_instruction['distance'] = get_next_instruction_distance(tracks[cur_track['name']], next_instruction, cur_ecef)
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return next_instruction
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else:
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return None
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def calc_instruction_state(state, cur_track, closest_track, source_track, target_track, instruction):
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lost_track_or_instruction = cur_track is None or instruction is None
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if state == INSTRUCTION_STATE.NONE:
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if lost_track_or_instruction:
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pass
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else:
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state = INSTRUCTION_STATE.PASSIVE
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elif state == INSTRUCTION_STATE.PASSIVE:
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if lost_track_or_instruction:
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state = INSTRUCTION_STATE.NONE
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elif instruction['distance'] < INSTRUCTION_APPROACHING_DIST:
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state = INSTRUCTION_STATE.APPROACHING
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elif state == INSTRUCTION_STATE.APPROACHING:
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if lost_track_or_instruction:
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state = INSTRUCTION_STATE.NONE
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elif instruction['distance'] < INSTRUCTION_ACTIVE_DIST:
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state = INSTRUCTION_STATE.ACTIVE
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elif state == INSTRUCTION_STATE.ACTIVE:
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if lost_track_or_instruction:
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state = INSTRUCTION_STATE.NONE
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elif target_track['distance'] < TRACK_SNAP_DIST and \
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source_track['idx'] > instruction['start_idx'] and \
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instruction['distance'] > 10.:
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state = INSTRUCTION_STATE.NONE
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cur_track = target_track
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return state, cur_track
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def gps_planner_point_selection():
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DECIMATION = 1
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cloudlog.info("Starting gps_plannerd point selection")
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rk = Ratekeeper(10.0, print_delay_threshold=np.inf)
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context = zmq.Context()
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live_location = messaging.sub_sock(context, 'liveLocation', conflate=True, addr=_REMOTE_ADDR)
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car_state = messaging.sub_sock(context, 'carState', conflate=True)
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gps_planner_points = messaging.pub_sock(context, 'gpsPlannerPoints')
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ui_navigation_event = messaging.pub_sock(context, 'uiNavigationEvent')
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# Load tracks and instructions from disk
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basedir = os.environ['BASEDIR']
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tracks = np.load(os.path.join(basedir, 'selfdrive/controls/tracks/%s.npy' % LOOP)).item()
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instructions = json.loads(open(os.path.join(basedir, 'selfdrive/controls/tracks/instructions_%s.json' % LOOP)).read())
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# Put tracks into KD-trees
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track_trees = {}
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for name in tracks:
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tracks[name] = tracks[name][::DECIMATION]
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track_trees[name] = cKDTree(tracks[name][:,0:3]) # xyz
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cur_track = None
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source_track = None
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target_track = None
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instruction = None
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v_ego = 0.
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state = INSTRUCTION_STATE.NONE
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counter = 0
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while True:
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counter += 1
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ll = messaging.recv_one(live_location)
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ll = ll.liveLocation
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cur_ecef = geodetic2ecef((ll.lat, ll.lon, ll.alt))
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cs = messaging.recv_one_or_none(car_state)
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if cs is not None:
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v_ego = cs.carState.vEgo
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cur_track, closest_track = update_current_track(tracks, cur_track, cur_ecef, track_trees)
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#print cur_track
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instruction = update_instruction(instruction, instructions, cur_track, source_track, state, cur_ecef, tracks)
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source_track, target_track = get_tracks_from_instruction(tracks, instruction, track_trees, cur_ecef)
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state, cur_track = calc_instruction_state(state, cur_track, closest_track, source_track, target_track, instruction)
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active_points = []
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# Make list of points used by gpsPlannerPlan
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if cur_track is not None:
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active_points = get_spaced_points(tracks[cur_track['name']], cur_track['idx'], cur_ecef, v_ego)
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cur_pos = log.ECEFPoint.new_message()
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cur_pos.x, cur_pos.y, cur_pos.z = map(float, cur_ecef)
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m = messaging.new_message()
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m.init('gpsPlannerPoints')
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m.gpsPlannerPoints.curPos = cur_pos
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m.gpsPlannerPoints.points = convert_ecef_to_capnp(active_points)
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m.gpsPlannerPoints.valid = len(active_points) > 10
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m.gpsPlannerPoints.trackName = "none" if cur_track is None else cur_track['name']
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m.gpsPlannerPoints.speedLimit = 100. if cur_track is None else float(cur_track['speed'])
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m.gpsPlannerPoints.accelTarget = 0. if cur_track is None else float(cur_track['accel'])
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gps_planner_points.send(m.to_bytes())
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m = messaging.new_message()
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m.init('uiNavigationEvent')
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m.uiNavigationEvent.status = state
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m.uiNavigationEvent.type = "none" if instruction is None else instruction['type']
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m.uiNavigationEvent.distanceTo = 0. if instruction is None else float(instruction['distance'])
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endRoadPoint = log.ECEFPoint.new_message()
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m.uiNavigationEvent.endRoadPoint = endRoadPoint
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ui_navigation_event.send(m.to_bytes())
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rk.keep_time()
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def gps_planner_plan():
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context = zmq.Context()
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live_location = messaging.sub_sock(context, 'liveLocation', conflate=True, addr=_REMOTE_ADDR)
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gps_planner_points = messaging.sub_sock(context, 'gpsPlannerPoints', conflate=True)
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gps_planner_plan = messaging.pub_sock(context, 'gpsPlannerPlan')
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points = messaging.recv_one(gps_planner_points).gpsPlannerPoints
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target_speed = 100. * CV.MPH_TO_MS
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target_accel = 0.
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last_ecef = np.array([0., 0., 0.])
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while True:
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ll = messaging.recv_one(live_location)
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ll = ll.liveLocation
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p = messaging.recv_one_or_none(gps_planner_points)
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if p is not None:
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points = p.gpsPlannerPoints
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target_speed = p.gpsPlannerPoints.speedLimit
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target_accel = p.gpsPlannerPoints.accelTarget
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cur_ecef = geodetic2ecef((ll.lat, ll.lon, ll.alt))
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# TODO: make NED initialization much faster so we can run this every time step
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if np.linalg.norm(last_ecef - cur_ecef) > 200.:
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ned_converter = NED(ll.lat, ll.lon, ll.alt)
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last_ecef = cur_ecef
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cur_heading = np.radians(ll.heading)
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if points.valid:
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poly, x_lookahead = fit_poly(points, cur_ecef, cur_heading, ned_converter)
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else:
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poly, x_lookahead = [0.0, 0.0, 0.0, 0.0], 0.
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valid = points.valid
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m = messaging.new_message()
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m.init('gpsPlannerPlan')
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m.gpsPlannerPlan.valid = valid
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m.gpsPlannerPlan.poly = poly
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m.gpsPlannerPlan.trackName = points.trackName
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r = []
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for p in points.points:
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point = log.ECEFPoint.new_message()
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point.x, point.y, point.z = p.x, p.y, p.z
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r.append(point)
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m.gpsPlannerPlan.points = r
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m.gpsPlannerPlan.speed = target_speed
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m.gpsPlannerPlan.acceleration = target_accel
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m.gpsPlannerPlan.xLookahead = x_lookahead
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gps_planner_plan.send(m.to_bytes())
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def main(gctx=None):
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cloudlog.info("Starting gps_plannerd main thread")
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point_thread = Thread(target=gps_planner_point_selection)
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point_thread.daemon = True
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control_thread = Thread(target=gps_planner_plan)
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control_thread.daemon = True
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point_thread.start()
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control_thread.start()
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while True:
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time.sleep(1)
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if __name__ == "__main__":
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main()
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